Item singulation systems using turn conveyors

ABSTRACT

Item singulation systems and methods may include an input conveyor, a separation conveyor, a turn conveyor, and an output conveyor that is positioned parallel with the input conveyor. A vision system may determine individual columns of items from among a plurality of items on the input conveyor. Operations of the input conveyor, separation conveyor, turn conveyor, and output conveyor may be controlled substantially as a pull system to transfer individual columns of items to the output conveyor, such that singulated items can be transferred by the output conveyor to downstream processes.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is related to U.S. application Ser. No. 16/369,431filed Mar. 29, 2019, entitled “Item Singulation System and Method,” andU.S. application Ser. No. 16/369,493, filed Mar. 29, 2019, entitled“System and Method for Collimating Items,” the contents of which areherein incorporated by reference in their entirety.

BACKGROUND

Many companies may receive, store, package, and ship items and/or groupsof items from material handling facilities. For example, many companiesmay receive and store items in a material handling facility and shipitems to various destinations (e.g., customers, stores) from thematerial handling facility. Receipt of items in the material handlingfacility, storage of items within the material handling facility,shipping of items from the material handling facility, and the overallflow or movement of items within the material handling facility (e.g.,from receive to storage to shipping) often incurs significant cost andtime. Accordingly, there is a need for automated systems and methods tofacilitate receive, sortation, storage, shipping, and other processeswithin a material handling facility, thereby improving the efficiency ofsuch processes.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a schematic, overhead view diagram of an example itemsingulation system using a turn conveyor, in accordance withimplementations of the present disclosure.

FIG. 1B is a schematic, perspective view diagram of an example itemsingulation system using a turn conveyor, in accordance withimplementations of the present disclosure.

FIG. 2 is a flow diagram illustrating an example item columndetermination process, in accordance with implementations of the presentdisclosure.

FIG. 3 is a flow diagram illustrating an example item singulationprocess using a turn conveyor, in accordance with implementations of thepresent disclosure.

FIG. 4A is a schematic, overhead view diagram of an example itemsingulation system using an orthogonal conveyor, in accordance withimplementations of the present disclosure.

FIG. 4B is a schematic, perspective view diagram of an example itemsingulation system using an orthogonal conveyor, in accordance withimplementations of the present disclosure.

FIG. 5 is a flow diagram illustrating an example item singulationprocess using an orthogonal conveyor, in accordance with implementationsof the present disclosure.

FIG. 6A is a schematic, perspective view diagram of an example itemsingulation system using a separation slide and an orthogonal conveyor,in accordance with implementations of the present disclosure.

FIG. 6B is a schematic, overhead view diagram of an example itemsingulation system using a separation slide and an orthogonal conveyor,in accordance with implementations of the present disclosure.

FIG. 7 is a flow diagram illustrating an example item singulationprocess using a separation slide, in accordance with implementations ofthe present disclosure.

FIG. 8 is a schematic, overhead view diagram of an example itemsingulation system using a separation slide and a turn conveyor, inaccordance with implementations of the present disclosure.

FIG. 9 is a schematic, overhead view diagram of an example itemsingulation system using a separation conveyor or slide, a bidirectionalconveyor segment, and two orthogonal conveyors, in accordance withimplementations of the present disclosure.

FIG. 10 is a schematic, overhead view diagram of an example itemsingulation system using a separation conveyor or slide, anomnidirectional conveyor segment, two orthogonal conveyors, and a turnconveyor, in accordance with implementations of the present disclosure.

FIG. 11 is a block diagram illustrating an example control system, inaccordance with implementations of the present disclosure.

DETAILED DESCRIPTION

As is set forth in greater detail below, implementations of the presentdisclosure are directed to item singulation systems and methods toidentify, separate, and singulate items using a plurality of conveyancemechanisms for various downstream processes, such as sortation, storage,packing, shipping, or other processes.

In example embodiments, an item singulation system may comprise an inputconveyor configured to receive a plurality of items, a vision systemconfigured to determine columns of items from the plurality of items onthe input conveyor, a separation conveyor configured to separate columnsof items from each other, a turn conveyor configured to rotate thecolumns of items, and an output conveyor configured to receive thecolumns of items and transfer the singulated items to various downstreamprocesses.

The plurality of items may comprise packages, boxes, containers, items,or other types of objects that may be received, identified, separated,singulated, and transferred to various downstream processes. The visionsystem may determine individual columns of items in order to separateand singulate the columns of items from each other. The turn conveyormay rotate the columns of items various amounts, e.g., approximately 45degrees, approximately 90 degrees, or other amounts. For example, theturn conveyor may rotate the columns of items approximately 90 degrees,and a direction of movement of the output conveyor may be approximatelyparallel to a direction of movement of the input conveyor. Further, acontroller may control operations and actuations of the variouscomponents of the item singulation system based at least in part on datafrom the vision system, e.g., the controller may actuate the variousconveyors as a pull system starting from the output conveyor to each ofthe turn conveyor, separation conveyor, and input conveyor.

In other example embodiments, an item singulation system may comprise aninput conveyor configured to receive a plurality of items, a visionsystem configured to determine columns of items from the plurality ofitems on the input conveyor, a separation conveyor configured toseparate columns of items from each other, and an output conveyorconfigured to receive the columns of items and transfer the singulateditems to various downstream processes.

The plurality of items may comprise packages, boxes, containers, items,or other types of objects that may be received, identified, separated,singulated, and transferred to various downstream processes. The visionsystem may determine individual columns of items in order to separateand singulate the columns of items from each other. The output conveyormay be positioned at an angle to the separation conveyor, e.g.,approximately rotated 90 degrees with respect to the separationconveyor. For example, a direction of movement of the output conveyormay be approximately orthogonal to a direction of movement of the inputconveyor and separation conveyor. Further, a controller may controloperations and actuations of the various components of the itemsingulation system based at least in part on data from the visionsystem, e.g., the controller may actuate the various conveyors as a pullsystem starting from the output conveyor to each of the separationconveyor and input conveyor.

In further example embodiments, an item singulation system may comprisean input conveyor configured to receive a plurality of items, aseparation slide configured to separate columns of items from eachother, and an output conveyor configured to receive the columns of itemsand transfer the singulated items to various downstream processes.

The plurality of items may comprise packages, boxes, containers, items,or other types of objects that may be received, separated, singulated,and transferred to various downstream processes. One or more portions ofthe input conveyor may mechanically separate and singulate individualcolumns of items from each other. The output conveyor may be positionedat an angle to the separation slide, e.g., approximately rotated 90degrees with respect to the separation slide. For example, a directionof movement of the output conveyor may be approximately orthogonal to adirection of movement of the input conveyor and a direction of movementof items along the separation slide. Further, a controller may controloperations and actuations of the various components of the itemsingulation system, e.g., the controller may actuate the variousconveyors as a pull system starting from the output conveyor to theinput conveyor.

In still further example embodiments, an item singulation system maycomprise various combinations of input conveyors, separation conveyors,separation slides, turn conveyors, output conveyors, and/or otherconveyance segments, mechanisms, or apparatus. In one example, an itemsingulation system may comprise an input conveyor, a separation slide, aturn conveyor, and an output conveyor. In another example, an itemsingulation system may comprise an input conveyor, a separation conveyoror slide, a bidirectional conveyor segment, and two output conveyors. Ina further example, an item singulation system may comprise an inputconveyor, a separation conveyor or slide, an omnidirectional conveyorsegment, a turn conveyor, and three output conveyors. Various othercombinations may also be used to form other example item singulationsystems.

Using the example item singulation systems and methods described herein,a plurality of items received by an input conveyor may be identified,separated, singulated, and transferred to various downstream processes,e.g., by transferring a single file, line, or column of items to anoutput conveyor that then transfers the singulated items to variousdownstream processes.

FIG. 1A is a schematic, overhead view diagram of an example itemsingulation system 100 using a turn conveyor, in accordance withimplementations of the present disclosure, and FIG. 1B is a schematic,perspective view diagram of an example item singulation system 100 usinga turn conveyor, in accordance with implementations of the presentdisclosure.

The example item singulation system 100 may include an input conveyor110, a vision system 115, a separation conveyor 120, a turn conveyor130, and an output conveyor 140. Various downstream processes mayreceive singulated items from the output conveyor 140, the outputconveyor 140 may receive individual columns of items from the turnconveyor 130, the turn conveyor 130 may receive individual columns ofitems from the separation conveyor 120, the separation conveyor 120 mayreceive individual columns of items from the input conveyor 110, theinput conveyor 110 may receive a plurality of items from variousupstream processes, and the various upstream processes may destackand/or deshingle the plurality of items such that a single or flat layerof items is transferred to the input conveyor 110, as described forexample in U.S. application Ser. Nos. 16/369,431 and 16/369,493, thecontents of which are herein incorporated by reference in theirentirety. As described herein, a column of items may comprise a singlefile or line of items that extends substantially transverse to adirection of movement of the input conveyor 110, and that extendssubstantially parallel to a direction of movement of the output conveyor140 upon transfer to the output conveyor 140.

The input conveyor 110 may comprise a frame 113 and one or more rollers,belts, or other conveyance mechanisms, the separation conveyor 120 maycomprise a frame 123 and one or more rollers, belts, or other conveyancemechanisms, the turn conveyor 130 may comprise a frame 133 and one ormore rollers, belts, or other conveyance mechanisms, and the outputconveyor 140 may comprise a frame 143 and one or more rollers, belts, orother conveyance mechanisms. The frames 113, 123, 133, 143 may be formedof various materials such as metals, composites, plastics, othermaterials, or combinations thereof. In addition, one or more of theinput conveyor 110, the separation conveyor 120, the turn conveyor 130,and/or the output conveyor 140 may include various guards, rails,plates, or other structural elements to prevent items from falling offthe sides or edges of the conveyors.

Each of the input conveyor 110, separation conveyor 120, turn conveyor130, and output conveyor 140 may be configured to stop, start, androtate or actuate at various speeds to receive and transfer items. Inaddition, during transfer of items from the input conveyor 110 to theseparation conveyor 120, the input conveyor 110 and separation conveyor120 may rotate at substantially the same speed. Further, during transferof items from the separation conveyor 120 to the turn conveyor 130, theseparation conveyor 120 and turn conveyor 130 may rotate atsubstantially the same speed. Moreover, during transfer of items fromthe turn conveyor 130 to the output conveyor 140, the turn conveyor 130may rotate at a first speed, and the output conveyor 140 may rotate at asecond speed, e.g., may be stopped or not rotate, or may rotate at asecond speed that is the same as, faster than, or slower than the firstspeed.

In addition, the turn conveyor 130 may be configured to rotate items bya defined angle or amount between receipt of the items from theseparation conveyor 120 and transfer of the items to the output conveyor140. For example, the turn conveyor 130 may rotate items byapproximately 90 degrees, such that a direction of movement of theoutput conveyor 140 is approximately parallel to a direction of movementof the input conveyor 110. In other example embodiments, the turnconveyor 130 may rotate items by different angles, e.g., approximately30 degrees, approximately 45 degrees, approximately 60 degrees, or otherangles or amounts.

In example embodiments, the vision system 115 may comprise one or morecameras, imaging sensors, depth sensors, infrared sensors, or otherimaging devices that are positioned overhead, to the side, or at otherpositions relative to the input conveyor 110, and the vision system 115may be configured to capture imaging data of a plurality of items 112received by the input conveyor 110. The imaging data captured by thevision system 115 may be processed to determine one or more lines,edges, corners, surfaces, or other features of the plurality of items112 on the input conveyor 110, e.g., using various image recognition orimage processing techniques or algorithms.

Further, the imaging data captured by the vision system 115 may beprocessed to determine individual columns of items based at least inpart on the determined lines, edges, corners, surfaces, or otherfeatures of the plurality of items 112. For example, a first leadingedge 117 of a column of items may be determined based at least in parton determined features of the plurality of items 112. As shown in FIG.1A, the first leading edge may comprise a first leading edge 117-1 of afirst item of an individual column of items that has previously beentransferred from the input conveyor 110 to the separation conveyor 120.Likewise, the first leading edge may comprise a first leading edge 117-2of another first item of an individual column of items that is to betransferred from the input conveyor 110 to the separation conveyor 120.

In addition, responsive to determining a first leading edge 117 of acolumn of items, a first trailing edge 118 of the column of items may bedetermined based at least in part on determined features of theplurality of items 112. In example embodiments, the first trailing edge118 may comprise a first trailing edge of any item that is identifiedafter identifying a first leading edge of a first item in an individualcolumn of items. In other example embodiments, the first trailing edge118 may comprise a first trailing edge of a smallest or shortest itemthat is identified after identifying a first leading edge of a firstitem in an individual column of items. As shown in FIG. 1A, the firsttrailing edge may comprise a first trailing edge 118-1 of any item or asmallest or shortest item of an individual column of items that haspreviously been transferred from the input conveyor 110 to theseparation conveyor 120. Likewise, the first trailing edge may comprisea first trailing edge 118-2 of any item or a smallest or shortest itemof an individual column of items that is to be transferred from theinput conveyor 110 to the separation conveyor 120.

In this manner, imaging data from the vision system 115 may be processedto determine individual columns of items that each comprises a singlefile or line of items that extends substantially transverse to adirection of movement of the input conveyor 110 and that may betransferred from the input conveyor 110 to the separation conveyor 120.As a result, the individual columns of items may be transferred to theoutput conveyor 140, e.g., via the separation conveyor 120 and turnconveyor 130, such that a single file or line of items extendssubstantially parallel to a direction of movement of the output conveyor140.

As described herein, adjacent conveyors may be rotated at substantiallya same speed during transfer of a column of items between adjacentconveyors, in order to maintain the column of items as a single file orline of items. When a column of items is moved by a conveyor but is nottransferred between adjacent conveyors, each of the conveyors may rotateat various speeds and/or may start and stop rotation, e.g., to alter oradjust spacing between individual columns of items.

Further, the operations of the example item singulation system may becontrolled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, the outputconveyor 140 may be actuated to transfer singulated items to variousdownstream processes. In addition, the output conveyor 140 may beselectively actuated to alter or adjust spacing between individualcolumns of items received from the turn conveyor 130. Upon determiningthat a column of items is to be transferred from the turn conveyor 130to the output conveyor 140, e.g., to a transfer zone of the outputconveyor 140 that is adjacent the turn conveyor 130, the turn conveyor130 may be actuated to transfer a column of items to the transfer zoneof the output conveyor 140.

In some example embodiments, one or more sensors 145 may be associatedwith the output conveyor 140, e.g., one or more boundaries, edges, orportions of a transfer zone of the output conveyor 140. The one or moresensors 145 may comprise cameras, imaging sensors, imaging devices,depth sensors, infrared sensors, photoeyes, light curtains, proximitysensors, or other types of sensors. For example, the one or more sensors145 may detect that no objects are present in the transfer zone of theoutput conveyor 140, and/or that all objects have moved downstream andout of the transfer zone of the output conveyor 140, in order todetermine that a column of items is to be transferred from the turnconveyor 130 to the output conveyor 140. In addition, the one or moresensors 145 may detect that one or more objects are present in thetransfer zone of the output conveyor 140, and/or that one or moreobjects have moved downstream and into the transfer zone of the outputconveyor 140, in order to determine that a column of items has beentransferred from the turn conveyor 130 to the output conveyor 140. Otherconveyors or portions thereof of the example item singulation system,e.g., the turn conveyor 130, the separation conveyor 120, and/or theinput conveyor 110, may also include one or more sensors, similar to theone or more sensors 145 described with reference to the output conveyor140, to control actuations of the other conveyors and correspondingtransfers of items between conveyors.

Continuing with the operations of the example item singulation systemthat may be controlled substantially as a pull system, upon determiningthat a column of items is to be transferred from the turn conveyor 130to the output conveyor 140, e.g., to a transfer zone of the outputconveyor 140 that is adjacent the turn conveyor 130, the separationconveyor 120 may also be actuated with the turn conveyor 130 to transfera column of items to the transfer zone of the output conveyor 140 viathe turn conveyor 130. Further, if it is determined that no objects arepresent on the separation conveyor 120, or that no objects are presenton either of the turn conveyor 130 or the separation conveyor 120, theinput conveyor 110 may be actuated to transfer a column of items fromthe input conveyor 110 to the separation conveyor 120 based at least inpart on the data from the vision system 115, which column of items willsubsequently be transferred to the transfer zone of the output conveyor140 via the turn conveyor 130. After transferring the column of itemsfrom the input conveyor 110 to the separation conveyor 120 based atleast in part on the data from the vision system 115, the input conveyor110 may be stopped until it is subsequently determined that a nextcolumn of items is to be transferred from the input conveyor 110 to theseparation conveyor 120.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to the output conveyor 140, by selective actuations of theoutput conveyor 140, turn conveyor 130, separation conveyor 120, and/orinput conveyor 110 such that individual columns of items are identified,separated, and singulated for various downstream processes.

Although example embodiments described herein refer to one or moresensors 145 that may be used to control operations of the example itemsingulation system substantially as a pull system, in other exampleembodiments, actuations of one or more conveyors may be controlled onthe basis of an amount, degree, or distance of movement of the one ormore conveyors that may be determined based on feedback or dataassociated with actuators or other portions of the one or moreconveyors, e.g., using data from motor or actuator encoders, dataassociated with times or durations of operation, and/or other data ormeasurements related to operational times or traveled distances of oneor more objects on the one or more conveyors.

FIG. 2 is a flow diagram illustrating an example item columndetermination process 200, in accordance with implementations of thepresent disclosure.

The process 200 may begin by receiving imaging data from a visionsystem, as at 202. For example, one or more cameras, imaging sensors,depth sensors, infrared sensors, or other imaging devices may captureimaging data of a plurality of items received by an input conveyor. Inaddition, a controller may receive the imaging data captured by the oneor more imaging devices.

The process 200 may continue by processing the imaging data to identifyedges of one or more items, as at 204. For example, the imaging data maybe processed to identify one or more lines, edges, corners, surfaces, orother features of the plurality of items on the input conveyor in orderto determine a column of items on the input conveyor. In addition, acontroller may process the imaging data, e.g., using various imagerecognition or image processing techniques or algorithms, to identifyone or more lines, edges, corners, surfaces, or other features of theplurality of items.

The process 200 may proceed by determining whether a first leading edgeof a first item is identified, as at 206. For example, relative to adirection of movement of the input conveyor, it may be determinedwhether a first leading edge of a first item in a column of items isidentified. In addition, a controller may determine whether a firstleading edge of a first item is identified based at least in part on theprocessing of the imaging data. If a first leading edge of a first itemis not yet identified, then the process 200 may return to step 202 tocontinue to receive imaging data and process the imaging data toidentify one or more lines, edges, corners, surfaces, or other featuresof the plurality of items on the input conveyor.

If, however, a first leading edge of a first item is identified, thenthe process 200 may continue to determine whether a first trailing edgeof any item after the first leading edge of the first item isidentified, as at 208. For example, relative to a direction of movementof the input conveyor and responsive to identifying a first leading edgeof a first item in a column of items, it may be determined whether afirst trailing edge of any item or a smallest or shortest item of thecolumn of items is identified. In addition, a controller may determinewhether a first trailing edge of any item or a smallest or shortest itemis identified based at least in part on the processing of the imagingdata. If a first trailing edge of any item is not yet identified, thenthe process 200 may return to step 202 to continue to receive imagingdata and process the imaging data to identify one or more lines, edges,corners, surfaces, or other features of the plurality of items on theinput conveyor.

If, however, a first trailing edge of any item is identified, then theprocess 200 may proceed to determine the column of items from the firstleading edge of the first item to the first trailing edge of any item,as at 210. For example, the column of items may be determined betweenthe first leading edge of the first item and the first trailing edge ofany item or a smallest or shortest item, and the column of items maycomprise a single file or line of items that extends substantiallytransverse to a direction of movement of the input conveyor. In thismanner, the column of items may be determined such that no two itemswithin the column of items are positioned adjacent each other along adirection of movement of the input conveyor, such that all items of thecolumn of items may be singulated from each other upon transfer to theoutput conveyor. In addition, a controller may determine the column ofitems from the first leading edge of the first item to the firsttrailing edge of any item based at least in part on the processing ofthe imaging data.

The process 200 may then continue with transferring one or more items toa subsequent conveyor based on the determined column, as at 212. Forexample, based on the determined column of items that comprises a singlefile or line of items, the column of items may be transferred from theinput conveyor to a subsequent conveyor, e.g., a separation conveyor, bycausing movement of the column of items until the first trailing edge ofany item or a smallest or shortest item is transferred to the subsequentconveyor. In this manner, the column of items may be transferred tosubsequent processes such that no two items within the column of itemsare positioned adjacent each other along a direction of movement of theinput conveyor, such that all items of the column of items may besingulated from each other upon transfer to the output conveyor. Inaddition, a controller may cause transfer of the one or more items basedon the column of items that is determined from the first leading edge ofthe first item to the first trailing edge of any item based at least inpart on the processing of the imaging data.

FIG. 3 is a flow diagram illustrating an example item singulationprocess using a turn conveyor 300, in accordance with implementations ofthe present disclosure.

The process 300 may begin by actuating an output conveyor to movesingulated items to a downstream process, as at 302. For example, one ormore actuators of the output conveyor may cause rotation or movement ofrollers, belts, or other conveyance mechanisms of the output conveyor tomove or transfer singulated items on the output conveyor to one or moredownstream processes. In addition, a controller may instruct actuationof the output conveyor to transfer singulated items to downstreamprocesses.

The process 300 may continue by determining whether to transfer a columnof items from a turn conveyor to the output conveyor, as at 304. Forexample, if a transfer zone of the output conveyor at which the outputconveyor may receive individual columns of items is empty, it may bedetermined that a column of items is to be transferred from the turnconveyor to the output conveyor. As described herein, one or moresensors, such as cameras, imaging sensors, imaging devices, depthsensors, infrared sensors, photoeyes, light curtains, proximity sensors,or other types of sensors, associated with the output conveyor maydetect the presence or absence of one or more items within the transferzone of the output conveyor, and/or feedback or data associated withactuators or other portions of the output conveyor, e.g., using datafrom motor or actuator encoders, data associated with times or durationsof operation, and/or other data or measurements related to operationaltimes or traveled distances of one or more objects on the outputconveyor, may be processed to determine the presence or absence of oneor more items within the transfer zone of the output conveyor. Inaddition, a controller may receive data from one or more sensors or dataor feedback from actuators or other portions of the output conveyor anddetermine whether to transfer a column of items from the turn conveyorto the output conveyor.

If it is determined that a column of items is not to be transferred tothe output conveyor, e.g., because one or more items is present withinthe transfer zone of the output conveyor, and/or to alter or adjust aspacing of individual columns of items, then the process 300 may returnto step 302 to continue to actuate the output conveyor to movesingulated items to downstream processes.

If, however, it is determined that a column of items is to betransferred to the output conveyor, e.g., because no items are presentwithin the transfer zone of the output conveyor, and/or followingalteration or adjustment of spacing of individual columns of items, thenthe process 300 may proceed by actuating the turn conveyor and aseparation conveyor to transfer a column of items to the outputconveyor, as at 306. For example, the turn conveyor may be actuated tomove or transfer a column of items from the turn conveyor to the outputconveyor, and/or the separation conveyor may also be actuated togetherwith the turn conveyor, e.g., at a same speed at least during transfertherebetween, to move or transfer a column of items from the separationconveyor to the turn conveyor and then to the output conveyor. Inaddition, a controller may instruct actuation of the turn conveyorand/or the separation conveyor to transfer a column of items to theoutput conveyor.

The process 300 may then continue to determine whether to transfer acolumn of items from an input conveyor to the separation conveyor, as at308. For example, if the separation conveyor, or both the separationconveyor and the turn conveyor, is empty, it may be determined that acolumn of items is to be transferred from the input conveyor to theseparation conveyor. As described herein, one or more sensors, such ascameras, imaging sensors, imaging devices, depth sensors, infraredsensors, photoeyes, light curtains, proximity sensors, or other types ofsensors, associated with the separation conveyor and/or the turnconveyor may detect the presence or absence of one or more items on theseparation conveyor and/or the turn conveyor, and/or feedback or dataassociated with actuators or other portions of the separation conveyorand/or the turn conveyor, e.g., using data from motor or actuatorencoders, data associated with times or durations of operation, and/orother data or measurements related to operational times or traveleddistances of one or more objects on the separation conveyor and/or theturn conveyor, may be processed to determine the presence or absence ofone or more items on the separation conveyor and/or the turn conveyor.In addition, a controller may receive data from one or more sensors ordata or feedback from actuators or other portions of the separationconveyor and/or the turn conveyor and determine whether to transfer acolumn of items from the input conveyor to the separation conveyor.

If it is determined that a column of items is not to be transferred tothe separation conveyor, e.g., because one or more items is present onthe separation conveyor and/or the turn conveyor, and/or to alter oradjust a spacing of individual columns of items, then the process 300may proceed to step 316 as further described herein.

If, however, it is determined that a column of items is to betransferred to the separation conveyor, e.g., because no items arepresent on the separation conveyor and/or the turn conveyor, and/orfollowing alteration or adjustment of spacing of individual columns ofitems, then the process 300 may proceed to actuate the input conveyor totransfer a column of items to the separation conveyor, as at 310. Forexample, the input conveyor may be actuated to move or transfer a columnof items from the input conveyor to the separation conveyor, and/or theseparation conveyor may also be actuated together with the inputconveyor, e.g., at a same speed at least during transfer therebetween,to move or transfer a column of items from the input conveyor to theseparation conveyor. In addition, a controller may instruct actuation ofthe input conveyor and/or the separation conveyor to transfer a columnof items to the separation conveyor.

The process 300 may then continue with determining whether the column ofitems is transferred to the separation conveyor based on the visionsystem, as at 312. For example, the column of items may be determinedbetween a first leading edge of a first item and a first trailing edgeof any item or a smallest or shortest item in the column of items, andthe input conveyor may be actuated to move or transfer the column ofitems until the first trailing edge of the column of items istransferred to the separation conveyor, based at least in part onprocessing of imaging data from the vision system. In addition, acontroller may receive and process imaging data from the vision systemto determine the column of items and to control actuation of the inputconveyor based on the determined column of items.

If it is determined that the column of items is not yet transferred tothe separation conveyor, then the process 300 may return to step 310 tocontinue to actuate the input conveyor to transfer the column of itemsto the separation conveyor.

If, however, it is determined that the column of items is transferred tothe separation conveyor, then the process 300 may proceed with stoppingactuation of the input conveyor, as at 314. For example, the inputconveyor may be stopped responsive to transferring the column of itemsto the separation conveyor, in order to alter or adjust a spacingbetween individual columns of items as the columns are transferred tothe output conveyor, e.g., via the separation conveyor and turnconveyor. In addition, a controller may instruct stopping of actuationof the input conveyor responsive to transferring a column of items tothe separation conveyor.

The process 300 may then continue by determining whether a column ofitems has been transferred to the output conveyor, as at 316. Forexample, if a transfer zone of the output conveyor at which the outputconveyor may receive individual columns of items has received one ormore items, it may be determined that a column of items has beentransferred from the turn conveyor to the output conveyor. As describedherein, one or more sensors, such as cameras, imaging sensors, imagingdevices, depth sensors, infrared sensors, photoeyes, light curtains,proximity sensors, or other types of sensors, associated with the outputconveyor may detect the presence or absence of one or more items withinthe transfer zone of the output conveyor, and/or feedback or dataassociated with actuators or other portions of the output conveyor,e.g., using data from motor or actuator encoders, data associated withtimes or durations of operation, and/or other data or measurementsrelated to operational times or traveled distances of one or moreobjects on the output conveyor, may be processed to determine thepresence or absence of one or more items within the transfer zone of theoutput conveyor. In addition, a controller may receive data from one ormore sensors or data or feedback from actuators or other portions of theoutput conveyor and determine whether a column of items has beentransferred from the turn conveyor to the output conveyor.

If it is determined that the column of items has not yet beentransferred to the output conveyor, then the process 300 may return tostep 306 to continue to actuate the turn conveyor and/or the separationconveyor to transfer a column of items to the output conveyor.

If, however, it is determined that the column of items has beentransferred to the output conveyor, then the process 300 may proceedwith stopping actuation of the turn conveyor and/or the separationconveyor, as at 318. For example, the turn conveyor and/or theseparation conveyor may be stopped responsive to transferring the columnof items to the output conveyor, in order to alter or adjust a spacingbetween individual columns of items as the columns are transferred tothe output conveyor, e.g., via the separation conveyor and turnconveyor. In addition, a controller may instruct stopping of actuationof the turn conveyor and/or the separation conveyor responsive totransferring a column of items to the output conveyor.

Then, the process 300 may return to step 302 to continue to actuate theoutput conveyor to move singulated items to downstream processes, andthe process 300 may substantially repeat to continue to identify,separate, and singulate items using the example item singulation systemsdescribed herein.

FIG. 4A is a schematic, overhead view diagram of an example itemsingulation system 400 using an orthogonal conveyor, in accordance withimplementations of the present disclosure, and FIG. 4B is a schematic,perspective view diagram of an example item singulation system 400 usingan orthogonal conveyor, in accordance with implementations of thepresent disclosure.

The example item singulation system 400 may include an input conveyor410, a vision system 415, a separation conveyor 420, and an outputconveyor 440. Various downstream processes may receive singulated itemsfrom the output conveyor 440, the output conveyor 440 may receiveindividual columns of items from the separation conveyor 420, theseparation conveyor 420 may receive individual columns of items from theinput conveyor 410, the input conveyor 410 may receive a plurality ofitems from various upstream processes, and the various upstreamprocesses may destack and/or deshingle the plurality of items such thata single or flat layer of items is transferred to the input conveyor410, as described for example in U.S. application Ser. Nos. 16/369,431and 16/369,493, the contents of which are herein incorporated byreference in their entirety. As described herein, a column of items maycomprise a single file or line of items that extends substantiallytransverse to a direction of movement of the input conveyor 410, andthat extends substantially parallel to a direction of movement of theoutput conveyor 440 upon transfer to the output conveyor 440.

The input conveyor 410 may comprise a frame 413 and one or more rollers,belts, or other conveyance mechanisms, the separation conveyor 420 maycomprise a frame 423 and one or more rollers, belts, or other conveyancemechanisms, and the output conveyor 440 may comprise a frame 443 and oneor more rollers, belts, or other conveyance mechanisms. The frames 413,423, 443 may be formed of various materials such as metals, composites,plastics, other materials, or combinations thereof. In addition, one ormore of the input conveyor 410, the separation conveyor 420, and/or theoutput conveyor 440 may include various guards, rails, plates, or otherstructural elements to prevent items from falling off the sides or edgesof the conveyors.

Each of the input conveyor 410, separation conveyor 420, and outputconveyor 440 may be configured to stop, start, and rotate or actuate atvarious speeds to receive and transfer items. In addition, duringtransfer of items from the input conveyor 410 to the separation conveyor420, the input conveyor 410 and separation conveyor 420 may rotate atsubstantially the same speed. Further, during transfer of items from theseparation conveyor 420 to the output conveyor 440, the separationconveyor 420 may rotate at a first speed, and the output conveyor 440may rotate at a second speed, e.g., may be stopped or not rotate, or mayrotate at a second speed that is the same as, faster than, or slowerthan the first speed.

In addition, the output conveyor 440 may be oriented in a position thatis rotated approximately 90 degrees relative the input conveyor 410,such that a direction of movement of the output conveyor 440 isapproximately orthogonal to a direction of movement of the inputconveyor 410. In other example embodiments, the output conveyor 440 maybe oriented in a position that is rotated by different amounts or anglesrelative to the input conveyor 410, e.g., approximately 45 degrees,approximately 60 degrees, approximately 75 degrees, or other angles oramounts.

In example embodiments, the vision system 415 may comprise one or morecameras, imaging sensors, depth sensors, infrared sensors, or otherimaging devices that are positioned overhead, to the side, or at otherpositions relative to the input conveyor 410, and the vision system 415may be configured to capture imaging data of a plurality of items 412received by the input conveyor 410. The imaging data captured by thevision system 415 may be processed to determine one or more lines,edges, corners, surfaces, or other features of the plurality of items412 on the input conveyor 410, e.g., using various image recognition orimage processing techniques or algorithms.

Further, the imaging data captured by the vision system 415 may beprocessed to determine individual columns of items based at least inpart on the determined lines, edges, corners, surfaces, or otherfeatures of the plurality of items 412. For example, a first leadingedge 417 of a column of items may be determined based at least in parton determined features of the plurality of items 412. As shown in FIG.4A, the first leading edge may comprise a first leading edge 417-1 of afirst item of an individual column of items that has previously beentransferred from the input conveyor 410 to the separation conveyor 420.Likewise, the first leading edge may comprise a first leading edge 417-2of another first item of an individual column of items that is to betransferred from the input conveyor 410 to the separation conveyor 420.

In addition, responsive to determining a first leading edge 417 of acolumn of items, a first trailing edge 418 of the column of items may bedetermined based at least in part on determined features of theplurality of items 412. In example embodiments, the first trailing edge418 may comprise a first trailing edge of any item that is identifiedafter identifying a first leading edge of a first item in an individualcolumn of items. In other example embodiments, the first trailing edge418 may comprise a first trailing edge of a smallest or shortest itemthat is identified after identifying a first leading edge of a firstitem in an individual column of items. As shown in FIG. 4A, the firsttrailing edge may comprise a first trailing edge 418-1 of any item or asmallest or shortest item of an individual column of items that haspreviously been transferred from the input conveyor 410 to theseparation conveyor 420. Likewise, the first trailing edge may comprisea first trailing edge 418-2 of any item or a smallest or shortest itemof an individual column of items that is to be transferred from theinput conveyor 410 to the separation conveyor 420.

In this manner, imaging data from the vision system 415 may be processedto determine individual columns of items that each comprises a singlefile or line of items that extends substantially transverse to adirection of movement of the input conveyor 410 and that may betransferred from the input conveyor 410 to the separation conveyor 420.As a result, the individual columns of items may be transferred to theoutput conveyor 440, e.g., via the separation conveyor 420, such that asingle file or line of items extends substantially parallel to adirection of movement of the output conveyor 440.

As described herein, adjacent conveyors may be rotated at substantiallya same speed during transfer of a column of items between adjacentconveyors, in order to maintain the column of items as a single file orline of items. When a column of items is moved by a conveyor but is nottransferred between adjacent conveyors, each of the conveyors may rotateat various speeds and/or may start and stop rotation, e.g., to alter oradjust spacing between individual columns of items.

Further, the operations of the example item singulation system may becontrolled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, the outputconveyor 440 may be actuated to transfer singulated items to variousdownstream processes. In addition, the output conveyor 440 may beselectively actuated to alter or adjust spacing between individualcolumns of items received from the separation conveyor 420. Upondetermining that a column of items is to be transferred from theseparation conveyor 420 to the output conveyor 440, e.g., to a transferzone of the output conveyor 440 that is adjacent the separation conveyor420, the separation conveyor 420 may be actuated to transfer a column ofitems to the transfer zone of the output conveyor 440.

In some example embodiments, one or more sensors 445 may be associatedwith the output conveyor 440, e.g., one or more boundaries, edges, orportions of a transfer zone of the output conveyor 440. The one or moresensors 445 may comprise cameras, imaging sensors, imaging devices,depth sensors, infrared sensors, photoeyes, light curtains, proximitysensors, or other types of sensors. For example, the one or more sensors445 may detect that no objects are present in the transfer zone of theoutput conveyor 440, and/or that all objects have moved downstream andout of the transfer zone of the output conveyor 440, in order todetermine that a column of items is to be transferred from theseparation conveyor 420 to the output conveyor 440. In addition, the oneor more sensors 445 may detect that one or more objects are present inthe transfer zone of the output conveyor 440, and/or that one or moreobjects have moved downstream and into the transfer zone of the outputconveyor 440, in order to determine that a column of items has beentransferred from the separation conveyor 420 to the output conveyor 440.Other conveyors or portions thereof of the example item singulationsystem, e.g., the separation conveyor 420, and/or the input conveyor410, may also include one or more sensors, similar to the one or moresensors 445 described with reference to the output conveyor 440, tocontrol actuations of the other conveyors and corresponding transfers ofitems between conveyors.

Continuing with the operations of the example item singulation systemthat may be controlled substantially as a pull system, upon determiningthat a column of items is to be transferred from the separation conveyor420 to the output conveyor 440, e.g., to a transfer zone of the outputconveyor 440 that is adjacent the separation conveyor 420, theseparation conveyor 420 may be actuated to transfer a column of items tothe transfer zone of the output conveyor 440. Further, if it isdetermined that no objects are present on the separation conveyor 420,the input conveyor 410 may be actuated to transfer a column of itemsfrom the input conveyor 410 to the separation conveyor 420 based atleast in part on the data from the vision system 415, which column ofitems will subsequently be transferred to the transfer zone of theoutput conveyor 440. After transferring the column of items from theinput conveyor 410 to the separation conveyor 420 based at least in parton the data from the vision system 415, the input conveyor 410 may bestopped until it is subsequently determined that a next column of itemsis to be transferred from the input conveyor 410 to the separationconveyor 420.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to the output conveyor 440, by selective actuations of theoutput conveyor 440, separation conveyor 420, and/or input conveyor 410such that individual columns of items are identified, separated, andsingulated for various downstream processes.

Although example embodiments described herein refer to one or moresensors 445 that may be used to control operations of the example itemsingulation system substantially as a pull system, in other exampleembodiments, actuations of one or more conveyors may be controlled onthe basis of an amount, degree, or distance of movement of the one ormore conveyors that may be determined based on feedback or dataassociated with actuators or other portions of the one or moreconveyors, e.g., using data from motor or actuator encoders, dataassociated with times or durations of operation, and/or other data ormeasurements related to operational times or traveled distances of oneor more objects on the one or more conveyors.

FIG. 5 is a flow diagram illustrating an example item singulationprocess using an orthogonal conveyor 500, in accordance withimplementations of the present disclosure.

The process 500 may begin by actuating an output conveyor to movesingulated items to a downstream process, as at 502. For example, one ormore actuators of the output conveyor may cause rotation or movement ofrollers, belts, or other conveyance mechanisms of the output conveyor tomove or transfer singulated items on the output conveyor to one or moredownstream processes. In addition, a controller may instruct actuationof the output conveyor to transfer singulated items to downstreamprocesses.

The process 500 may continue by determining whether to transfer a columnof items from a separation conveyor to the output conveyor, as at 504.For example, if a transfer zone of the output conveyor at which theoutput conveyor may receive individual columns of items is empty, it maybe determined that a column of items is to be transferred from theseparation conveyor to the output conveyor. As described herein, one ormore sensors, such as cameras, imaging sensors, imaging devices, depthsensors, infrared sensors, photoeyes, light curtains, proximity sensors,or other types of sensors, associated with the output conveyor maydetect the presence or absence of one or more items within the transferzone of the output conveyor, and/or feedback or data associated withactuators or other portions of the output conveyor, e.g., using datafrom motor or actuator encoders, data associated with times or durationsof operation, and/or other data or measurements related to operationaltimes or traveled distances of one or more objects on the outputconveyor, may be processed to determine the presence or absence of oneor more items within the transfer zone of the output conveyor. Inaddition, a controller may receive data from one or more sensors or dataor feedback from actuators or other portions of the output conveyor anddetermine whether to transfer a column of items from the separationconveyor to the output conveyor.

If it is determined that a column of items is not to be transferred tothe output conveyor, e.g., because one or more items is present withinthe transfer zone of the output conveyor, and/or to alter or adjust aspacing of individual columns of items, then the process 500 may returnto step 502 to continue to actuate the output conveyor to movesingulated items to downstream processes.

If, however, it is determined that a column of items is to betransferred to the output conveyor, e.g., because no items are presentwithin the transfer zone of the output conveyor, and/or followingalteration or adjustment of spacing of individual columns of items, thenthe process 500 may proceed by actuating the separation conveyor totransfer a column of items to the output conveyor, as at 506. Forexample, the separation conveyor may be actuated to move or transfer acolumn of items from the separation conveyor to the output conveyor. Inaddition, a controller may instruct actuation of the separation conveyorto transfer a column of items to the output conveyor.

The process 500 may then continue to determine whether to transfer acolumn of items from an input conveyor to the separation conveyor, as at508. For example, if the separation conveyor is empty, it may bedetermined that a column of items is to be transferred from the inputconveyor to the separation conveyor. As described herein, one or moresensors, such as cameras, imaging sensors, imaging devices, depthsensors, infrared sensors, photoeyes, light curtains, proximity sensors,or other types of sensors, associated with the separation conveyor maydetect the presence or absence of one or more items on the separationconveyor, and/or feedback or data associated with actuators or otherportions of the separation conveyor, e.g., using data from motor oractuator encoders, data associated with times or durations of operation,and/or other data or measurements related to operational times ortraveled distances of one or more objects on the separation conveyor,may be processed to determine the presence or absence of one or moreitems on the separation conveyor. In addition, a controller may receivedata from one or more sensors or data or feedback from actuators orother portions of the separation conveyor and determine whether totransfer a column of items from the input conveyor to the separationconveyor.

If it is determined that a column of items is not to be transferred tothe separation conveyor, e.g., because one or more items is present onthe separation conveyor, and/or to alter or adjust a spacing ofindividual columns of items, then the process 500 may proceed to step516 as further described herein.

If, however, it is determined that a column of items is to betransferred to the separation conveyor, e.g., because no items arepresent on the separation conveyor, and/or following alteration oradjustment of spacing of individual columns of items, then the process500 may proceed to actuate the input conveyor to transfer a column ofitems to the separation conveyor, as at 510. For example, the inputconveyor may be actuated to move or transfer a column of items from theinput conveyor to the separation conveyor, and/or the separationconveyor may also be actuated together with the input conveyor, e.g., ata same speed at least during transfer therebetween, to move or transfera column of items from the input conveyor to the separation conveyor. Inaddition, a controller may instruct actuation of the input conveyorand/or the separation conveyor to transfer a column of items to theseparation conveyor.

The process 500 may then continue with determining whether the column ofitems is transferred to the separation conveyor based on the visionsystem, as at 512. For example, the column of items may be determinedbetween a first leading edge of a first item and a first trailing edgeof any item or a smallest or shortest item in the column of items, andthe input conveyor may be actuated to move or transfer the column ofitems until the first trailing edge of the column of items istransferred to the separation conveyor, based at least in part onprocessing of imaging data from the vision system. In addition, acontroller may receive and process imaging data from the vision systemto determine the column of items and to control actuation of the inputconveyor based on the determined column of items.

If it is determined that the column of items is not yet transferred tothe separation conveyor, then the process 500 may return to step 510 tocontinue to actuate the input conveyor to transfer the column of itemsto the separation conveyor.

If, however, it is determined that the column of items is transferred tothe separation conveyor, then the process 500 may proceed with stoppingactuation of the input conveyor, as at 514. For example, the inputconveyor may be stopped responsive to transferring the column of itemsto the separation conveyor, in order to alter or adjust a spacingbetween individual columns of items as the columns are transferred tothe output conveyor, e.g., via the separation conveyor. In addition, acontroller may instruct stopping of actuation of the input conveyorresponsive to transferring a column of items to the separation conveyor.

The process 500 may then continue by determining whether a column ofitems has been transferred to the output conveyor, as at 516. Forexample, if a transfer zone of the output conveyor at which the outputconveyor may receive individual columns of items has received one ormore items, it may be determined that a column of items has beentransferred from the separation conveyor to the output conveyor. Asdescribed herein, one or more sensors, such as cameras, imaging sensors,imaging devices, depth sensors, infrared sensors, photoeyes, lightcurtains, proximity sensors, or other types of sensors, associated withthe output conveyor may detect the presence or absence of one or moreitems within the transfer zone of the output conveyor, and/or feedbackor data associated with actuators or other portions of the outputconveyor, e.g., using data from motor or actuator encoders, dataassociated with times or durations of operation, and/or other data ormeasurements related to operational times or traveled distances of oneor more objects on the output conveyor, may be processed to determinethe presence or absence of one or more items within the transfer zone ofthe output conveyor. In addition, a controller may receive data from oneor more sensors or data or feedback from actuators or other portions ofthe output conveyor and determine whether a column of items has beentransferred from the separation conveyor to the output conveyor.

If it is determined that the column of items has not yet beentransferred to the output conveyor, then the process 500 may return tostep 506 to continue to actuate the separation conveyor to transfer acolumn of items to the output conveyor.

If, however, it is determined that the column of items has beentransferred to the output conveyor, then the process 500 may proceedwith stopping actuation of the separation conveyor, as at 518. Forexample, the separation conveyor may be stopped responsive totransferring the column of items to the output conveyor, in order toalter or adjust a spacing between individual columns of items as thecolumns are transferred to the output conveyor, e.g., via the separationconveyor. In addition, a controller may instruct stopping of actuationof the separation conveyor responsive to transferring a column of itemsto the output conveyor.

Then, the process 500 may return to step 502 to continue to actuate theoutput conveyor to move singulated items to downstream processes, andthe process 500 may substantially repeat to continue to identify,separate, and singulate items using the example item singulation systemsdescribed herein.

FIG. 6A is a schematic, perspective view diagram of an example itemsingulation system 600 using a separation slide and an orthogonalconveyor, in accordance with implementations of the present disclosure,and FIG. 6B is a schematic, overhead view diagram of an example itemsingulation system 600 using a separation slide and an orthogonalconveyor, in accordance with implementations of the present disclosure.

The example item singulation system 600 may include an input conveyor610, a separation slide 620, and an output conveyor 640. Variousdownstream processes may receive singulated items from the outputconveyor 640, the output conveyor 640 may receive individual columns ofitems from the separation slide 620, the separation slide 620 mayreceive individual columns of items from the input conveyor 610, theinput conveyor 610 may receive a plurality of items from variousupstream processes 605, and the various upstream processes 605 maydestack and/or deshingle the plurality of items such that a single orflat layer of items is transferred to the input conveyor 610, asdescribed for example in U.S. application Ser. Nos. 16/369,431 and16/369,493, the contents of which are herein incorporated by referencein their entirety. As described herein, a column of items may comprise asingle file or line of items that extends substantially transverse to adirection of movement of the input conveyor 610, and that extendssubstantially parallel to a direction of movement of the output conveyor640 upon transfer to the output conveyor 640.

The input conveyor 610 may comprise a frame 613 and one or more rollers,belts, or other conveyance mechanisms, the separation slide 620 maycomprise a frame and one or more plates, surfaces, guides, or othersliding elements, and the output conveyor 640 may comprise a frame 643and one or more rollers, belts, or other conveyance mechanisms. Theframes 613, 643 may be formed of various materials such as metals,composites, plastics, other materials, or combinations thereof. Inaddition, one or more of the input conveyor 610, the separation slide620, and/or the output conveyor 640 may include various guards, rails,plates, or other structural elements to prevent items from falling offthe sides or edges of the conveyors.

Each of the input conveyor 610 and output conveyor 640 may be configuredto stop, start, and rotate or actuate at various speeds to receive andtransfer items. In addition, the separation slide 620 may be configuredto transfer items between the input conveyor 610 and the output conveyor640 using weight of the items or the force of gravity to cause movementor sliding of the items along the separation slide 620.

In addition, the output conveyor 640 may be oriented in a position thatis rotated approximately 90 degrees relative the input conveyor 610,such that a direction of movement of the output conveyor 640 isapproximately orthogonal to a direction of movement of the inputconveyor 610. In other example embodiments, the output conveyor 640 maybe oriented in a position that is rotated by different amounts or anglesrelative to the input conveyor 610, e.g., approximately 45 degrees,approximately 60 degrees, approximately 75 degrees, or other angles oramounts.

The various upstream processes 605 may cause destacking and/ordeshingling of items received by the upstream processes 605, such that asingle or flat layer of items is transferred to the input conveyor 610.In addition, the various upstream processes 605 may cause separation orisolation of individual columns of items from each other, such that anindividual column of items that comprises a single file or line of itemsthat extends substantially transverse to a direction of movement of theinput conveyor 610 is transferred to the input conveyor 610. Thereafter,an individual column of items may be transferred to the separation slide620 and then transferred on to the output conveyor 640, such that asingle file or line of items extends substantially parallel to adirection of movement of the output conveyor 640.

As described herein, adjacent conveyors may be rotated at substantiallya same speed during transfer of a column of items between adjacentconveyors, in order to maintain the column of items as a single file orline of items. When a column of items is moved by a conveyor but is nottransferred between adjacent conveyors, each of the conveyors may rotateat various speeds and/or may start and stop rotation, e.g., to alter oradjust spacing between individual columns of items.

Further, the operations of the example item singulation system may becontrolled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, the outputconveyor 640 may be actuated to transfer singulated items to variousdownstream processes. In addition, the output conveyor 640 may beselectively actuated to alter or adjust spacing between individualcolumns of items received from the separation slide 620. Upondetermining that a column of items is to be transferred from theseparation slide 620 to the output conveyor 640, e.g., to a transferzone of the output conveyor 640 that is adjacent the separation slide620, the input conveyor 610 may be actuated to transfer a column ofitems to the separation slide 620 and then to the transfer zone of theoutput conveyor 640.

In some example embodiments, one or more sensors 645 may be associatedwith the output conveyor 640, e.g., one or more boundaries, edges, orportions of a transfer zone of the output conveyor 640. The one or moresensors 645 may comprise cameras, imaging sensors, imaging devices,depth sensors, infrared sensors, photoeyes, light curtains, proximitysensors, or other types of sensors. For example, the one or more sensors645 may detect that no objects are present in the transfer zone of theoutput conveyor 640, and/or that all objects have moved downstream andout of the transfer zone of the output conveyor 640, in order todetermine that a column of items is to be transferred from theseparation slide 620 to the output conveyor 640. In addition, the one ormore sensors 645 may detect that one or more objects are present in thetransfer zone of the output conveyor 640, and/or that one or moreobjects have moved downstream and into the transfer zone of the outputconveyor 640, in order to determine that a column of items has beentransferred from the separation slide 620 to the output conveyor 640.Other conveyors or portions thereof of the example item singulationsystem, e.g., the separation slide 620, and/or the input conveyor 610,may also include one or more sensors, similar to the one or more sensors645 described with reference to the output conveyor 640, to controlactuations of the other conveyors and corresponding transfers of itemsbetween conveyors.

Continuing with the operations of the example item singulation systemthat may be controlled substantially as a pull system, upon determiningthat a column of items is to be transferred to the separation slide 620and then to the output conveyor 640, e.g., to a transfer zone of theoutput conveyor 640 that is adjacent the separation slide 620, the inputconveyor 610 may be actuated to transfer a column of items to theseparation slide 620 and then to the transfer zone of the outputconveyor 640. Further, if it is determined that no objects are presenton the separation slide 620, the input conveyor 610 may be actuated totransfer a column of items from the input conveyor 610 to the separationslide 620, which column of items will subsequently be transferred to thetransfer zone of the output conveyor 640. After transferring the columnof items from the input conveyor 610 to the separation slide 620, theinput conveyor 610 may be stopped until it is subsequently determinedthat a next column of items is to be transferred from the input conveyor610 to the separation slide 620.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to the output conveyor 640, by selective actuations of theoutput conveyor 640 and/or input conveyor 610 such that individualcolumns of items are identified, separated, and singulated for variousdownstream processes.

Although example embodiments described herein refer to one or moresensors 645 that may be used to control operations of the example itemsingulation system substantially as a pull system, in other exampleembodiments, actuations of one or more conveyors may be controlled onthe basis of an amount, degree, or distance of movement of the one ormore conveyors that may be determined based on feedback or dataassociated with actuators or other portions of the one or moreconveyors, e.g., using data from motor or actuator encoders, dataassociated with times or durations of operation, and/or other data ormeasurements related to operational times or traveled distances of oneor more objects on the one or more conveyors.

FIG. 7 is a flow diagram illustrating an example item singulationprocess using a separation slide 700, in accordance with implementationsof the present disclosure.

The process 700 may begin by actuating an output conveyor to movesingulated items to a downstream process, as at 702. For example, one ormore actuators of the output conveyor may cause rotation or movement ofrollers, belts, or other conveyance mechanisms of the output conveyor tomove or transfer singulated items on the output conveyor to one or moredownstream processes. In addition, a controller may instruct actuationof the output conveyor to transfer singulated items to downstreamprocesses.

The process 700 may then continue to determine whether to transfer acolumn of items from an input conveyor to a separation slide, as at 704.For example, if a transfer zone of the output conveyor, or theseparation slide is empty, it may be determined that a column of itemsis to be transferred from the input conveyor to the separation slide. Asdescribed herein, one or more sensors, such as cameras, imaging sensors,imaging devices, depth sensors, infrared sensors, photoeyes, lightcurtains, proximity sensors, or other types of sensors, associated withthe transfer zone of the output conveyor and/or the separation slide maydetect the presence or absence of one or more items within the transferzone of the output conveyor and/or on the separation slide, and/orfeedback or data associated with actuators or other portions of theoutput conveyor, e.g., using data from motor or actuator encoders, dataassociated with times or durations of operation, and/or other data ormeasurements related to operational times or traveled distances of oneor more objects on the output conveyor, may be processed to determinethe presence or absence of one or more items within the transfer zone ofthe output conveyor and/or on the separation slide. In addition, acontroller may receive data from one or more sensors or data or feedbackfrom actuators or other portions of the output conveyor and/or theseparation slide and determine whether to transfer a column of itemsfrom the input conveyor to the separation slide.

If it is determined that a column of items is not to be transferred tothe separation slide, e.g., because one or more items is present withinthe transfer zone of the output conveyor or on the separation slide,and/or to alter or adjust a spacing of individual columns of items, thenthe process 700 may return to step 702 to continue to actuate the outputconveyor to move singulated items to downstream processes.

If, however, it is determined that a column of items is to betransferred to the separation slide, e.g., because no items are presentwithin the transfer zone of the output conveyor or on the separationslide, and/or following alteration or adjustment of spacing ofindividual columns of items, then the process 700 may proceed to actuatethe input conveyor to transfer a column of items to the separationslide, as at 706. For example, the input conveyor may be actuated tomove or transfer a column of items from the input conveyor to theseparation slide. In addition, a controller may instruct actuation ofthe input conveyor to transfer a column of items to the separationslide.

The process 700 may then continue with determining whether the column ofitems is transferred to the separation slide based on one or moresensors, as at 708. For example, if the separation slide and/or atransfer zone of the output conveyor at which the output conveyor mayreceive individual columns of items has received one or more items, itmay be determined that a column of items has been transferred from theinput conveyor to the separation slide. As described herein, one or moresensors, such as cameras, imaging sensors, imaging devices, depthsensors, infrared sensors, photoeyes, light curtains, proximity sensors,or other types of sensors, associated with the transfer zone of theoutput conveyor and/or the separation slide may detect the presence orabsence of one or more items within the transfer zone of the outputconveyor and/or on the separation slide, and/or feedback or dataassociated with actuators or other portions of the output conveyor,e.g., using data from motor or actuator encoders, data associated withtimes or durations of operation, and/or other data or measurementsrelated to operational times or traveled distances of one or moreobjects on the output conveyor, may be processed to determine thepresence or absence of one or more items within the transfer zone of theoutput conveyor and/or on the separation slide. In addition, acontroller may receive data from one or more sensors or data or feedbackfrom actuators or other portions of the output conveyor and/or theseparation slide and determine whether a column of items has beentransferred from the input conveyor to the separation slide.

If it is determined that the column of items has not yet beentransferred to the separation slide, then the process 700 may return tostep 706 to continue to actuate the input conveyor to transfer a columnof items to the separation slide.

If, however, it is determined that the column of items has beentransferred to the separation slide, then the process 700 may proceedwith stopping actuation of the input conveyor, as at 710. For example,the input conveyor may be stopped responsive to transferring the columnof items to the separation slide, in order to alter or adjust a spacingbetween individual columns of items as the columns are transferred tothe separation slide and then the output conveyor. In addition, acontroller may instruct stopping of actuation of the input conveyorresponsive to transferring a column of items to the separation slide andthen the output conveyor.

Then, the process 700 may return to step 702 to continue to actuate theoutput conveyor to move singulated items to downstream processes, andthe process 700 may substantially repeat to continue to identify,separate, and singulate items using the example item singulation systemsdescribed herein.

FIG. 8 is a schematic, overhead view diagram of an example itemsingulation system 800 using a separation slide and a turn conveyor, inaccordance with implementations of the present disclosure.

As shown in FIG. 8, an example item singulation system 800 may include acombination of various features described herein. For example, theexample item singulation system 800 may include an input conveyor 810, aseparation slide 620, a turn conveyor 130, and an output conveyor 840.The input conveyor 810 may include any and all of the features of inputconveyors 110, 410, 610 described herein at least with respect to FIGS.1A-7, and the output conveyor 840 may include any and all of thefeatures of output conveyors 140, 440, 640 described herein at leastwith respect to FIGS. 1A-7. In addition, the turn conveyor 130 mayinclude any and all of the features of turn conveyors 130 describedherein at least with respect to FIGS. 1A-3. Further, the separationslide 620 may include any and all of the features of separation slides620 described herein at least with respect to FIGS. 6A-7. Moreover, theexample item singulation system 800 may include any of the cameras,imaging sensors, imaging devices, photoeyes, light curtains, proximitysensors, or other types of sensors, as well as utilize feedback or dataassociated with actuators or other portions of the one or moreconveyors, described herein at least with respect to FIGS. 1A-7 in orderto control and coordinate actuations and operations of the example itemsingulation system to identify, separate, and singulate items fordownstream processes.

In addition, the turn conveyor 130 may be configured to rotate items bya defined angle or amount between receipt of the items from theseparation slide 620 and transfer of the items to the output conveyor840. For example, the turn conveyor 130 may rotate items byapproximately 90 degrees, such that a direction of movement of theoutput conveyor 840 is approximately parallel to a direction of movementof the input conveyor 810. In other example embodiments, the turnconveyor 130 may rotate items by different angles, e.g., approximately30 degrees, approximately 45 degrees, approximately 60 degrees, or otherangles or amounts.

Further, the operations of the example item singulation system 800 maybe controlled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, the outputconveyor 840 may be actuated to transfer singulated items to variousdownstream processes. In addition, the output conveyor 840 may beselectively actuated to alter or adjust spacing between individualcolumns of items received from the turn conveyor 130. Upon determiningthat a column of items is to be transferred from the turn conveyor 130to the output conveyor 840, e.g., to a transfer zone of the outputconveyor 840 that is adjacent the turn conveyor 130, the turn conveyor130 may be actuated to transfer a column of items to the transfer zoneof the output conveyor 840.

Continuing with the operations of the example item singulation system800 that may be controlled substantially as a pull system, upondetermining that a column of items is to be transferred from the turnconveyor 130 to the output conveyor 840, e.g., to a transfer zone of theoutput conveyor 840 that is adjacent the turn conveyor 130, the inputconveyor 810 may also be actuated with the turn conveyor 130 to transfera column of items to the separation slide 620 and then to the turnconveyor 130 and the transfer zone of the output conveyor 840. Further,if it is determined that no objects are present on the separation slide620, or that no objects are present on either of the turn conveyor 130or the separation slide 620, the input conveyor 810 may be actuated totransfer a column of items from the input conveyor 810 to the separationslide 620, which column of items will subsequently be transferred to theturn conveyor 130 and the transfer zone of the output conveyor 840.After transferring the column of items from the input conveyor 810 tothe separation slide 620, the input conveyor 810 may be stopped until itis subsequently determined that a next column of items is to betransferred from the input conveyor 810 to the separation slide 620, andsubsequently to the turn conveyor 130 and the output conveyor 840.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to the output conveyor 840, by selective actuations of theoutput conveyor 840, turn conveyor 130, and/or input conveyor 810, e.g.,using the separation slide 620, such that individual columns of itemsare identified, separated, and singulated for various downstreamprocesses.

FIG. 9 is a schematic, overhead view diagram of an example itemsingulation system 900 using a separation conveyor or slide, abidirectional conveyor segment, and two orthogonal conveyors, inaccordance with implementations of the present disclosure.

As shown in FIG. 9, an example item singulation system 900 may include acombination of various features described herein. For example, theexample item singulation system 900 may include an input conveyor 910, aseparation conveyor or slide 120, 420, 620, a bidirectional conveyorsegment 935, and two output conveyors 940. The input conveyor 910 mayinclude any and all of the features of input conveyors 110, 410, 610described herein at least with respect to FIGS. 1A-7, and the two outputconveyors 940-1, 940-2 may include any and all of the features of outputconveyors 140, 440, 640 described herein at least with respect to FIGS.1A-7. In addition, the separation conveyors 120, 420 may include any andall of the features of separation conveyors 120, 420 described herein atleast with respect to FIGS. 1A-5. Further, the separation slide 620 mayinclude any and all of the features of separation slides 620 describedherein at least with respect to FIGS. 6A-7. Moreover, the example itemsingulation system 900 may include any of the cameras, imaging sensors,imaging devices, photoeyes, light curtains, proximity sensors, or othertypes of sensors, as well as utilize feedback or data associated withactuators or other portions of the one or more conveyors, describedherein at least with respect to FIGS. 1A-7 in order to control andcoordinate actuations and operations of the example item singulationsystem to identify, separate, and singulate items for downstreamprocesses.

The bidirectional conveyor segment 935 may comprise a frame and one ormore rollers, belts, or other conveyance mechanisms that may beselectively controlled or actuated to move or transfer items in twodifferent directions. In example embodiments, the bidirectional conveyorsegment 935 may be configured to move or actuate in two oppositedirections. As shown in FIG. 9, the bidirectional conveyor segment 935may be configured to actuate and transfer items either toward a firstoutput conveyor 940-1 or toward a second output conveyor 940-2. In thismanner, individual columns of items may be selectively moved,transferred, and/or sorted to either of the two different outputconveyors 940-1, 940-2 as desired, which may lead to various downstreamprocesses.

In addition, the output conveyors 940 may be oriented in positions thatare rotated approximately 90 degrees relative the input conveyor 910,such that directions of movement of the output conveyors 940 areapproximately orthogonal to a direction of movement of the inputconveyor 910. In other example embodiments, the output conveyors 940 maybe oriented in positions that are rotated by different amounts or anglesrelative to the input conveyor 910, e.g., approximately 45 degrees,approximately 60 degrees, approximately 75 degrees, or other angles oramounts.

Further, the operations of the example item singulation system 900 maybe controlled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, one or both ofthe output conveyors 940 may be actuated to transfer singulated items tovarious downstream processes. In addition, the output conveyors 940 maybe selectively actuated to alter or adjust spacing between individualcolumns of items received from the bidirectional conveyor segment 935.Upon determining that a column of items is to be transferred from thebidirectional conveyor segment 935 to one of the output conveyors 940,e.g., to a transfer zone of one of the output conveyors 940 that isadjacent the bidirectional conveyor segment 935, the bidirectionalconveyor segment 935 may be actuated to transfer a column of items tothe transfer zone of one of the output conveyors 940.

Continuing with the operations of the example item singulation system900 that may be controlled substantially as a pull system, upondetermining that a column of items is to be transferred from thebidirectional conveyor segment 935 to one of the output conveyors 940,e.g., to a transfer zone of one of the output conveyors 940 that isadjacent the bidirectional conveyor segment 935, the input conveyor 910and/or separation conveyor 120, 420 may also be actuated with thebidirectional conveyor segment 935 to transfer a column of items to theseparation conveyor or slide 120, 420, 620 and then to the bidirectionalconveyor segment 935 and the transfer zone of one of the outputconveyors 940. Further, if it is determined that no objects are presenton the separation conveyor or slide 120, 420, 620, or that no objectsare present on either of the bidirectional conveyor segment 935 or theseparation conveyor or slide 120, 420, 620, the input conveyor 910 maybe actuated to transfer a column of items from the input conveyor 910 tothe separation conveyor or slide 120, 420, 620, which column of itemswill subsequently be transferred to the bidirectional conveyor segment935 and the transfer zone of one of the output conveyors 940. Aftertransferring the column of items from the input conveyor 910 to theseparation conveyor or slide 120, 420, 620, the input conveyor 910 maybe stopped until it is subsequently determined that a next column ofitems is to be transferred from the input conveyor 910 to the separationconveyor or slide 120, 420, 620, and subsequently to the bidirectionalconveyor segment 935 and one of the output conveyors 940.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to each of the output conveyors 940, by selective actuationsof the output conveyors 940, bidirectional conveyor segment 935,separation conveyors 120, 420 (or alternatively using a separation slide620), and/or input conveyor 910, such that individual columns of itemsare identified, separated, and singulated for various downstreamprocesses.

FIG. 10 is a schematic, overhead view diagram of an example itemsingulation system 1000 using a separation conveyor or slide, anomnidirectional conveyor segment, two orthogonal conveyors, and a turnconveyor, in accordance with implementations of the present disclosure.

As shown in FIG. 10, an example item singulation system 1000 may includea combination of various features described herein. For example, theexample item singulation system 1000 may include an input conveyor 1010,a separation conveyor or slide 120, 420, 620, an omnidirectionalconveyor segment 1035, a turn conveyor 130, and three output conveyors1040. The input conveyor 1010 may include any and all of the features ofinput conveyors 110, 410, 610 described herein at least with respect toFIGS. 1A-7, and the three output conveyors 1040-1, 1040-2, 1040-3 mayinclude any and all of the features of output conveyors 140, 440, 640described herein at least with respect to FIGS. 1A-7. In addition, theseparation conveyors 120, 420 may include any and all of the features ofseparation conveyors 120, 420 described herein at least with respect toFIGS. 1A-5, and the separation slide 620 may include any and all of thefeatures of separation slides 620 described herein at least with respectto FIGS. 6A-7. Further, the turn conveyor 130 may include any and all ofthe features of turn conveyors 130 described herein at least withrespect to FIGS. 1A-3. Moreover, the example item singulation system1000 may include any of the cameras, imaging sensors, imaging devices,photoeyes, light curtains, proximity sensors, or other types of sensors,as well as utilize feedback or data associated with actuators or otherportions of the one or more conveyors, described herein at least withrespect to FIGS. 1A-7 in order to control and coordinate actuations andoperations of the example item singulation system to identify, separate,and singulate items for downstream processes.

The omnidirectional conveyor segment 1035 may comprise a frame and oneor more rollers, belts, or other conveyance mechanisms that may beselectively controlled or actuated to move or transfer items in at leastthree different directions, e.g., three, four, six, or more differentdirections. In example embodiments, the omnidirectional conveyor segment1035 may be configured to move or actuate in at least three orthogonaldirections. As shown in FIG. 10, the omnidirectional conveyor segment1035 may be configured to actuate and transfer items either toward afirst output conveyor 1040-1 or toward a second output conveyor 1040-2,as well as toward a turn conveyor 130 that leads to a third outputconveyor 1040-3. In this manner, individual columns of items may beselectively moved, transferred, and/or sorted to any of the threedifferent output conveyors 1040-1, 1040-2, 1040-3 as desired, which maylead to various downstream processes.

In addition, the output conveyors 1040-1, 1040-2 may be oriented inpositions that are rotated approximately 90 degrees relative the inputconveyor 1010, such that directions of movement of the output conveyors1040-1, 1040-2 are approximately orthogonal to a direction of movementof the input conveyor 1010. In other example embodiments, the outputconveyors 1040-1, 1040-2 may be oriented in positions that are rotatedby different amounts or angles relative to the input conveyor 1010,e.g., approximately 45 degrees, approximately 60 degrees, approximately75 degrees, or other angles or amounts.

Moreover, the turn conveyor 130 may be configured to rotate items by adefined angle or amount between receipt of the items from theomnidirectional conveyor segment 1035 and transfer of the items to theoutput conveyor 1040-3. For example, the turn conveyor 130 may rotateitems by approximately 90 degrees, such that a direction of movement ofthe output conveyor 1040-3 is approximately parallel to a direction ofmovement of the input conveyor 1010. In other example embodiments, theturn conveyor 130 may rotate items by different angles, e.g.,approximately 30 degrees, approximately 45 degrees, approximately 60degrees, or other angles or amounts.

Further, the operations of the example item singulation system 1000 maybe controlled substantially as a pull system, e.g., by a controller orcontrol system as further described herein. For example, one or more ofthe output conveyors 1040 may be actuated to transfer singulated itemsto various downstream processes. In addition, the output conveyors 1040may be selectively actuated to alter or adjust spacing betweenindividual columns of items received from the omnidirectional conveyorsegment 1035 and/or the turn conveyor 130. Upon determining that acolumn of items is to be transferred from the turn conveyor 130 to theoutput conveyor 1040-3, e.g., to a transfer zone of the output conveyor1040-3 that is adjacent the turn conveyor 130, the turn conveyor 130 maybe actuated to transfer a column of items to the transfer zone of theoutput conveyor 1040-3.

In addition, upon determining that a column of items is to betransferred from the omnidirectional conveyor segment 1035 to one of theoutput conveyors 1040, e.g., to a transfer zone of one of the outputconveyors 1040-1, 1040-2 that is adjacent the omnidirectional conveyorsegment 1035, or to the turn conveyor 130 and subsequently to the outputconveyor 1040-3, the omnidirectional conveyor segment 1035 may beactuated to transfer a column of items to the transfer zone of one ofthe output conveyors 1040-1, 1040-2, or to the turn conveyor 130 andsubsequently to the output conveyor 1040-3.

Continuing with the operations of the example item singulation system1000 that may be controlled substantially as a pull system, upondetermining that a column of items is to be transferred from theomnidirectional conveyor segment 1035 to one of the output conveyors1040, e.g., to a transfer zone of one of the output conveyors 1040 thatis adjacent the omnidirectional conveyor segment 1035, or to the turnconveyor 130, the input conveyor 1010 and/or separation conveyor 120,420 may also be actuated with the omnidirectional conveyor segment 1035to transfer a column of items to the separation conveyor or slide 120,420, 620 and then to the omnidirectional conveyor segment 1035. Further,if it is determined that no objects are present on the separationconveyor or slide 120, 420, 620, that no objects are present on eitherof the omnidirectional conveyor segment 1035 or the separation conveyoror slide 120, 420, 620, or that no objects are present on any of theturn conveyor 130, the omnidirectional conveyor segment 1035, or theseparation conveyor or slide 120, 420, 620, the input conveyor 1010 maybe actuated to transfer a column of items from the input conveyor 1010to the separation conveyor or slide 120, 420, 620, which column of itemswill subsequently be transferred to the omnidirectional conveyor segment1035 and the transfer zone of one of the output conveyors 1040 or theturn conveyor 130. After transferring the column of items from the inputconveyor 1010 to the separation conveyor or slide 120, 420, 620, theinput conveyor 1010 may be stopped until it is subsequently determinedthat a next column of items is to be transferred from the input conveyor1010 to the separation conveyor or slide 120, 420, 620, and subsequentlyto the omnidirectional conveyor segment 1035 and one of the outputconveyors 1040 or the turn conveyor 130.

By operating the example item singulation system substantially as a pullsystem, a substantially continuous, single file or line of items may betransferred to each of the output conveyors 1040, by selectiveactuations of the output conveyors 1040, turn conveyor 130,omnidirectional conveyor segment 1035, separation conveyors 120, 420 (oralternatively using a separation slide 620), and/or input conveyor 1010,such that individual columns of items are identified, separated, andsingulated for various downstream processes.

FIG. 11 is a block diagram illustrating an example control system 1100,in accordance with implementations of the present disclosure.

Various operations of a control system or controller, such as thosedescribed herein, may be executed on one or more computer systems,and/or interacting with various other computers, systems, or devices ina material handling facility, according to various implementations. Forexample, the control system or controller discussed above may functionand operate on one or more computer systems. One such control system isillustrated by the block diagram in FIG. 11. In the illustratedimplementation, a control system 1100 includes one or more processors1110A, 1110B through 1110N, coupled to a non-transitorycomputer-readable storage medium 1120 via an input/output (I/O)interface 1130. The control system 1100 further includes a networkinterface 1140 coupled to the I/O interface 1130, and one or moreinput/output devices 1150. In some implementations, it is contemplatedthat a described implementation may be implemented using a singleinstance of the control system 1100 while, in other implementations,multiple such systems or multiple nodes making up the control system1100 may be configured to host different portions or instances of thedescribed implementations. For example, in one implementation, some datasources or services (e.g., related to portions of item singulationsystems, operations, or processes, etc.) may be implemented via one ormore nodes of the control system 1100 that are distinct from those nodesimplementing other data sources or services (e.g., related to otherportions of item singulation systems, operations, or processes, etc.).

In various implementations, the control system 1100 may be auniprocessor system including one processor 1110A, or a multiprocessorsystem including several processors 1110A-1110N (e.g., two, four, eight,or another suitable number). The processors 1110A-1110N may be anysuitable processor capable of executing instructions. For example, invarious implementations, the processors 1110A-1110N may begeneral-purpose or embedded processors implementing any of a variety ofinstruction set architectures (ISAs), such as the x86, PowerPC, SPARC,or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, eachof the processors 1110A-1110N may commonly, but not necessarily,implement the same ISA.

The non-transitory computer-readable storage medium 1120 may beconfigured to store executable instructions and/or data accessible bythe one or more processors 1110A-1110N. In various implementations, thenon-transitory computer-readable storage medium 1120 may be implementedusing any suitable memory technology, such as static random accessmemory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile/Flash-typememory, or any other type of memory. In the illustrated implementation,program instructions and data implementing desired functions and/orprocesses, such as those described above, are shown stored within thenon-transitory computer-readable storage medium 1120 as programinstructions 1125 and data storage 1135, respectively. In otherimplementations, program instructions and/or data may be received, sentor stored upon different types of computer-accessible media, such asnon-transitory media, or on similar media separate from thenon-transitory computer-readable storage medium 1120 or the controlsystem 1100. Generally speaking, a non-transitory, computer-readablestorage medium may include storage media or memory media such asmagnetic or optical media, e.g., disk or CD/DVD-ROM, coupled to thecontrol system 1100 via the I/O interface 1130. Program instructions anddata stored via a non-transitory computer-readable medium may betransmitted by transmission media or signals such as electrical,electromagnetic, or digital signals, which may be conveyed via acommunication medium such as a network and/or a wireless link, such asmay be implemented via the network interface 1140.

In one implementation, the I/O interface 1130 may be configured tocoordinate I/O traffic between the processors 1110A-1110N, thenon-transitory computer-readable storage medium 1120, and any peripheraldevices, including the network interface 1140 or other peripheralinterfaces, such as input/output devices 1150. In some implementations,the I/O interface 1130 may perform any necessary protocol, timing orother data transformations to convert data signals from one component(e.g., non-transitory computer-readable storage medium 1120) into aformat suitable for use by another component (e.g., processors1110A-1110N). In some implementations, the I/O interface 1130 mayinclude support for devices attached through various types of peripheralbuses, such as a variant of the Peripheral Component Interconnect (PCI)bus standard or the Universal Serial Bus (USB) standard, for example. Insome implementations, the function of the I/O interface 1130 may besplit into two or more separate components, such as a north bridge and asouth bridge, for example. Also, in some implementations, some or all ofthe functionality of the I/O interface 1130, such as an interface to thenon-transitory computer-readable storage medium 1120, may beincorporated directly into the processors 1110A-1110N.

The network interface 1140 may be configured to allow data to beexchanged between the control system 1100 and other devices attached toa network, such as other control systems, material handling systemcontrollers, warehouse management systems, other computer systems,various types of actuators, various types of sensors, various types ofvision systems, imaging devices, or imaging sensors, upstream stationsor processes, downstream stations or processes, other material handlingsystems or equipment, or between nodes of the control system 1100. Invarious implementations, the network interface 1140 may supportcommunication via wired or wireless general data networks, such as anysuitable type of Ethernet network.

Input/output devices 1150 may, in some implementations, include one ormore displays, projection devices, audio input/output devices,keyboards, keypads, touchpads, scanning devices, imaging devices,sensors, photo eyes, proximity sensors, RFID readers, voice or opticalrecognition devices, or any other devices suitable for entering orretrieving data by one or more control systems 1100. Multipleinput/output devices 1150 may be present in the control system 1100 ormay be distributed on various nodes of the control system 1100. In someimplementations, similar input/output devices may be separate from thecontrol system 1100 and may interact with one or more nodes of thecontrol system 1100 through a wired or wireless connection, such as overthe network interface 1140.

As shown in FIG. 11, the memory 1120 may include program instructions1125 that may be configured to implement one or more of the describedimplementations and/or provide data storage 1135, which may comprisevarious tables, data stores and/or other data structures accessible bythe program instructions 1125. The program instructions 1125 may includevarious executable instructions, programs, or applications to facilitateitem singulation operations and processes described herein, such asconveyance mechanism, machine, or apparatus controllers, drivers, orapplications, actuator controllers, drivers, or applications, sensorcontrollers, drivers, or applications, sensor data processingapplications, vision system or imaging device controllers, drivers, orapplications, imaging data processing applications, material handlingequipment controllers, drivers, or applications, upstream stationcontrollers, drivers, or applications, downstream station controllers,drivers, or applications, etc. The data storage 1135 may include variousdata stores for maintaining data related to systems, operations, orprocesses described herein, such as conveyance mechanisms, machines, orapparatus, actuators, actuator data, sensors, sensor data, visionsystems or imaging devices, imaging data, items, packages, containers,or objects, item, package, container, or object data, leading edge data,trailing edge data, item column data, material handling equipment orapparatus, upstream systems, stations, or processes, downstream systems,stations, or processes, etc.

Those skilled in the art will appreciate that the control system 1100 ismerely illustrative and is not intended to limit the scope ofimplementations. In particular, the control system and devices mayinclude any combination of hardware or software that can perform theindicated functions, including other control systems or controllers,computers, network devices, internet appliances, robotic devices, etc.The control system 1100 may also be connected to other devices that arenot illustrated, or instead may operate as a stand-alone system. Inaddition, the functionality provided by the illustrated components may,in some implementations, be combined in fewer components or distributedin additional components. Similarly, in some implementations, thefunctionality of some of the illustrated components may not be providedand/or other additional functionality may be available.

It should be understood that, unless otherwise explicitly or implicitlyindicated herein, any of the features, characteristics, alternatives ormodifications described regarding a particular implementation herein mayalso be applied, used, or incorporated with any other implementationdescribed herein, and that the drawings and detailed description of thepresent disclosure are intended to cover all modifications, equivalentsand alternatives to the various implementations as defined by theappended claims. Moreover, with respect to the one or more methods orprocesses of the present disclosure described herein, including but notlimited to the flow charts shown in FIGS. 2, 3, 5, and 7, orders inwhich such methods or processes are presented are not intended to beconstrued as any limitation on the claimed inventions, and any number ofthe method or process steps or boxes described herein can be omitted,reordered, or combined in any order and/or in parallel to implement themethods or processes described herein. Also, the drawings herein are notdrawn to scale.

Conditional language, such as, among others, “can,” “could,” “might,” or“may,” unless specifically stated otherwise, or otherwise understoodwithin the context as used, is generally intended to convey in apermissive manner that certain implementations could include, or havethe potential to include, but do not mandate or require, certainfeatures, elements and/or steps. In a similar manner, terms such as“include,” “including” and “includes” are generally intended to mean“including, but not limited to.” Thus, such conditional language is notgenerally intended to imply that features, elements and/or steps are inany way required for one or more implementations or that one or moreimplementations necessarily include logic for deciding, with or withoutuser input or prompting, whether these features, elements and/or stepsare included or are to be performed in any particular implementation.

The elements of a method, process, or algorithm described in connectionwith the implementations disclosed herein can be embodied directly inhardware, in a software module stored in one or more memory devices andexecuted by one or more processors, or in a combination of the two. Asoftware module can reside in RAM, flash memory, ROM, EPROM, EEPROM,registers, a hard disk, a removable disk, a CD ROM, a DVD-ROM or anyother form of non-transitory computer-readable storage medium, media, orphysical computer storage known in the art. An example storage mediumcan be coupled to the processor such that the processor can readinformation from, and write information to, the storage medium. In thealternative, the storage medium can be integral to the processor. Thestorage medium can be volatile or nonvolatile. The processor and thestorage medium can reside in an ASIC. The ASIC can reside in a userterminal. In the alternative, the processor and the storage medium canreside as discrete components in a user terminal.

Disjunctive language such as the phrase “at least one of X, Y, or Z,” or“at least one of X, Y and Z,” unless specifically stated otherwise, isotherwise understood with the context as used in general to present thatan item, term, etc., may be either X, Y, or Z, or any combinationthereof (e.g., X, Y, and/or Z). Thus, such disjunctive language is notgenerally intended to, and should not, imply that certainimplementations require at least one of X, at least one of Y, or atleast one of Z to each be present.

Unless otherwise explicitly stated, articles such as “a” or “an” shouldgenerally be interpreted to include one or more described items.Accordingly, phrases such as “a device configured to” are intended toinclude one or more recited devices. Such one or more recited devicescan also be collectively configured to carry out the stated recitations.For example, “a processor configured to carry out recitations A, B andC” can include a first processor configured to carry out recitation Aworking in conjunction with a second processor configured to carry outrecitations B and C.

Language of degree used herein, such as the terms “about,”“approximately,” “generally,” “nearly” or “substantially” as usedherein, represent a value, amount, or characteristic close to the statedvalue, amount, or characteristic that still performs a desired functionor achieves a desired result. For example, the terms “about,”“approximately,” “generally,” “nearly” or “substantially” may refer toan amount that is within less than 10% of, within less than 5% of,within less than 1% of, within less than 0.1% of, and within less than0.01% of the stated amount.

Although the invention has been described and illustrated with respectto illustrative implementations thereof, the foregoing and various otheradditions and omissions may be made therein and thereto withoutdeparting from the spirit and scope of the present disclosure.

What is claimed is:
 1. An item singulation system, comprising: an inputconveyor configured to receive a plurality of items; a vision systemconfigured to determine a column of items on the input conveyor; aseparation conveyor configured to receive the column of items from theinput conveyor; a turn conveyor configured to receive the column ofitems from the separation conveyor, the turn conveyor configured torotate the column of items approximately ninety degrees; an outputconveyor configured to receive the column of items from the turnconveyor; and a controller in communication with the input conveyor, thevision system, the separation conveyor, the turn conveyor, and theoutput conveyor, the controller configured to at least: receive imagingdata from the vision system; determine the column of items on the inputconveyor based at least in part on the imaging data; and instructactuations of the input conveyor, the separation conveyor, the turnconveyor, and the output conveyor to transfer the column of items fromthe input conveyor to the output conveyor.
 2. The item singulationsystem of claim 1, wherein the controller is further configured to atleast: instruct the input conveyor and the separation conveyor toactuate at a first speed to transfer the column of items from the inputconveyor to the separation conveyor.
 3. The item singulation system ofclaim 2, wherein the controller is further configured to at least:instruct the separation conveyor and the turn conveyor to actuate at asecond speed to transfer the column of items from the separationconveyor to the turn conveyor.
 4. The item singulation system of claim3, wherein the controller is further configured to at least: instructthe turn conveyor to actuate at the second speed, and instruct theoutput conveyor to stop to transfer the column of items from the turnconveyor to the output conveyor.
 5. The item singulation system of claim1, wherein a direction of movement of the input conveyor is parallel toa direction of movement of the output conveyor.
 6. A system, comprising:an input conveyor configured to receive a plurality of items; a visionsystem configured to determine a column of items on the input conveyor;a separation conveyor configured to receive the column of items from theinput conveyor; a turn conveyor configured to receive the column ofitems from the separation conveyor, the turn conveyor configured torotate the column of items to extend along a direction of movement of anoutput conveyor; and the output conveyor configured to receive thecolumn of items from the turn conveyor.
 7. The system of claim 6,wherein the input conveyor and the separation conveyor rotate at a firstspeed to transfer the column of items from the input conveyor to theseparation conveyor.
 8. The system of claim 7, wherein the separationconveyor and the turn conveyor rotate at a second speed to transfer thecolumn of items from the separation conveyor to the turn conveyor. 9.The system of claim 8, wherein the turn conveyor rotates at the secondspeed, and the output conveyor rotates at a third speed to transfer thecolumn of items from the turn conveyor to the output conveyor.
 10. Thesystem of claim 6, further comprising: a controller configured to atleast: receive imaging data from the vision system; and determine thecolumn of items on the input conveyor based at least in part on theimaging data.
 11. The system of claim 10, wherein the controller isfurther configured to at least: determine a first leading edge of afirst item of the plurality of items relative to a direction of movementof the input conveyor based at least in part on the imaging data;responsive to determining the first leading edge of the first item,determine a first trailing edge of a second item of the plurality ofitems relative to the direction of movement of the input conveyor basedat least in part on the imaging data; and determine the column of itemson the input conveyor based at least in part on the first leading edgeof the first item and the first trailing edge of the second item. 12.The system of claim 11, further comprising: at least one sensorconfigured to detect items within a transfer zone of the outputconveyor; wherein the controller is further configured to at least:determine, based on data from the at least one sensor, that no items arepresent within the transfer zone of the output conveyor; and responsiveto determining that no items are present within the transfer zone of theoutput conveyor, instruct the turn conveyor and the separation conveyorto actuate at a same speed to transfer the column of items to thetransfer zone of the output conveyor.
 13. The system of claim 12,wherein the controller is further configured to at least: determine,based on data from the at least one sensor, that the column of items ispresent within the transfer zone of the output conveyor; and responsiveto determining that the column of items is present within the transferzone of the output conveyor, instruct the turn conveyor and theseparation conveyor to stop.
 14. The system of claim 12, wherein thecontroller is further configured to at least: determine that no itemsare present on the separation conveyor; and responsive to determiningthat no items are present on the separation conveyor, instruct the inputconveyor and the separation conveyor to actuate to transfer the columnof items from the input conveyor to the separation conveyor.
 15. Thesystem of claim 14, wherein the controller is further configured to atleast: instruct the input conveyor and the separation conveyor toactuate at a same speed to transfer the column of items from the inputconveyor to the separation conveyor; and instruct the input conveyor tostop responsive to transferring the first trailing edge of the seconditem from the input conveyor to the separation conveyor.
 16. The systemof claim 6, wherein the separation conveyor comprises a separation slideconfigured to receive the column of items from the input conveyor andconfigured to transfer the column of items to the turn conveyor.
 17. Acomputer-implemented method, comprising: receiving, by a controller,imaging data from a vision system associated with an input conveyor;determining, by the controller, a column of items on the input conveyorbased at least in part on the imaging data; causing transfer, by thecontroller, of the column of items from the input conveyor to aseparation conveyor; causing transfer, by the controller, of the columnof items from the separation conveyor to a turn conveyor, the turnconveyor configured to rotate the column of items to extend along adirection of movement of an output conveyor; and causing transfer, bythe controller, of the column of items from the turn conveyor to theoutput conveyor.
 18. The computer-implemented method of claim 17,wherein determining the column of items on the input conveyor furthercomprises: determining, by the controller, a first leading edge of afirst item of a plurality of items on the input conveyor relative to adirection of movement of the input conveyor based at least in part onthe imaging data; responsive to determining the first leading edge ofthe first item, determining, by the controller, a first trailing edge ofa second item of the plurality of items on the input conveyor relativeto the direction of movement of the input conveyor based at least inpart on the imaging data; and determining, by the controller, the columnof items on the input conveyor based at least in part on the firstleading edge of the first item and the first trailing edge of the seconditem.
 19. The computer-implemented method of claim 17, wherein causingtransfer, by the controller, of the column of items from the turnconveyor to the output conveyor further comprises: determining, by thecontroller, that the column of items is to be transferred to a transferzone of the output conveyor; and responsive to determining that thecolumn of items is to be transferred, instructing, by the controller,the turn conveyor and the separation conveyor to actuate at a same speedto transfer the column of items to the transfer zone of the outputconveyor.
 20. The computer-implemented method of claim 17, whereincausing transfer, by the controller, of the column of items from theinput conveyor to the separation conveyor further comprises:determining, by the controller, that the column of items is to betransferred to the separation conveyor; and responsive to determiningthat the column of items is to be transferred, instructing, by thecontroller, the input conveyor and the separation conveyor to actuate ata same speed to transfer the column of items from the input conveyor tothe separation conveyor.